Prosthesis operation method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a prosthesis operation method and device, electronic equipment and a storage medium, and is applied to the technical field of medical instruments. Prosthesis selection information input by the user based on the displayed first thighbone model is received; according to the first skeleton model and the prosthesis selection information, creating a second skeleton model provided with a prosthesis; performing simulation of a preset behavior cycle according to the second skeleton model; when the simulation result meets the preset requirement, the mechanical arm is controlled to prepare a femoral cavity of the patient according to the marked osteotomy line and the second bone model, and a femoral prosthesis is installed; and preparing an acetabular bone cavity of the patient according to the planned filing area and the second bone model, and mounting an acetabular cup prosthesis, so that mounting of a femoral prosthesis and mounting of the acetabular cup prosthesis are realized by controlling a mechanical arm, and the mounting reliability of the prosthesis is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and particularly to a prosthesis surgery method, device, electronic device, and storage medium. Background Art

[0002] Currently, with the continuous development of medical technology, medical staff can provide more treatment options for patients. For example, femoral head necrosis, femoral neck fracture, hip arthritis caused by various reasons, malignant tumors, etc. can be treated by hip replacement. By replacing the diseased hip joint with an artificial prosthesis, the purpose of removing the lesion, relieving pain, and restoring the normal function of the patient's hip joint can be achieved.

[0003] See Figure 1 , the current artificial hip joint mainly includes four components: acetabulum (socket cup), liner (pad), femoral head (ball head), and femoral stem. Among them, the socket cup is installed on the pelvic bone, and the femoral head is installed on the leg bone. During hip replacement surgery, it is necessary to first determine the installation position of the socket cup. If the installation position of the socket cup is incorrect, it will cause collision between the edge of the socket cup and the femoral neck after surgery, resulting in dislocation. However, currently, the installation position of the socket cup in the prosthesis is often determined based on the doctor's experience, resulting in low reliability of the prosthesis installation. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a prosthesis surgery method, device, electronic device, and storage medium to improve the reliability of prosthesis installation. The specific technical solutions are as follows:

[0005] In the first aspect of the embodiments of the present application, a prosthesis surgery method is first provided, including:

[0006] Receiving case information input by a user, where the case information includes CT data;

[0007] Creating and displaying a first bone model based on the CT data;

[0008] Receiving prosthesis selection information input by the user based on the displayed first femoral model;

[0009] Creating a second bone model with a prosthesis installed based on the first bone model and the prosthesis selection information;

[0010] Performing a simulation for a preset behavior cycle based on the second bone model;

[0011] When the simulation result meets the preset requirements, control the robotic arm to prepare the femoral cavity of the patient according to the marked osteotomy line and the second bone model, and install the femoral prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm; prepare the acetabular bone cavity of the patient according to the planned rasping area and the second bone model, and install the acetabular cup prosthesis.

[0012] In a possible implementation manner, after installing the acetabular cup prosthesis for the patient according to the second bone model, the method further includes:

[0013] Obtain the edge point information of the installed acetabular cup prosthesis;

[0014] Verify the angle of the installed acetabular cup prosthesis according to the edge point information and the second bone model.

[0015] In a possible implementation manner, after controlling the robotic arm to install the femoral prosthesis for the patient according to the marked osteotomy line and the second bone model, the method further includes:

[0016] Obtain the tracer information of the installed femoral prosthesis;

[0017] Verify the installed femoral prosthesis according to the tracer information and the second bone model.

[0018] In a possible implementation manner, the simulation of the preset behavior cycle according to the second bone model includes

[0019] Simulate one or more preset behavior cycles according to the second bone model, where the one or more preset behavior cycles are one or more of the posture from standing to sitting, walking posture, bending posture, posture from squatting to standing, leaning forward posture, turning posture, up and down stairs posture, and cross - leg posture.

[0020] In the second aspect of the embodiments of the present application, a prosthetic surgery device is provided, including:

[0021] A case receiving module, configured to receive case information input by a user, where the case information includes CT data;

[0022] A first model creation module, configured to create and display a first bone model according to the CT data;

[0023] An information receiving module, configured to receive prosthesis selection information input by the user based on the displayed first femoral model;

[0024] A second model creation module, configured to create a second bone model installed with a prosthesis according to the first bone model and the prosthesis selection information;

[0025] A behavior simulation module, configured to simulate a preset behavior cycle according to the second bone model;

[0026] A prosthesis installation module, configured to, when the simulation result meets the preset requirements, control the robotic arm to prepare the femoral cavity of the patient according to the marked osteotomy line and the second bone model, and install the femoral prosthesis, wherein the osteotomy line is marked according to the measurement result of the robotic arm; prepare the acetabular bone cavity of the patient according to the planned rasping area and the second bone model, and install the acetabular cup prosthesis.

[0027] In a possible implementation manner, the device further includes:

[0028] An edge point acquisition module, configured to acquire edge point information of the installed acetabular cup prosthesis;

[0029] An angle verification module, configured to verify the angle of the installed acetabular cup prosthesis according to the edge point information and the second bone model.

[0030] In a possible implementation manner, the device further includes:

[0031] A tracer information acquisition module, configured to acquire tracer information of the installed femoral prosthesis;

[0032] A femur verification module, configured to verify the installed femoral prosthesis according to the tracer information and the second bone model.

[0033] In a possible implementation manner, the behavior simulation module is specifically configured to simulate one or more preset behavior cycles according to the second bone model, where the one or more preset behavior cycles are one or more of a posture from standing to sitting, a walking posture, a bending posture, a posture from squatting to standing, a leaning-forward posture, a turning posture, an up-and-down stairs posture, and a cross-legged posture.

[0034] An embodiment of the present invention further provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0035] The memory is used for storing a computer program;

[0036] The processor is configured to implement any one of the above-mentioned prosthesis surgeries when executing the program stored in the memory.

[0037] An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program implements any one of the above-mentioned prosthesis surgeries when being executed by a processor.

[0038] An embodiment of the present invention also provides a computer program product containing instructions, which, when running on a computer, enables the computer to perform any one of the above-mentioned prosthetic surgeries.

[0039] Advantages of the embodiment of the present invention:

[0040] A prosthetic surgery method, device, electronic device, and storage medium provided by an embodiment of the present invention receive case information input by a user, where the case information includes CT data; create a first bone model based on the CT data and display it; receive prosthetic selection information input by the user based on the displayed first femur model; create a second bone model with a prosthetic installed based on the first bone model and the prosthetic selection information; perform simulation for a preset behavior cycle based on the second bone model; when the simulation result meets the preset requirements, control a robotic arm to prepare a femoral cavity for the patient according to the marked osteotomy line and the second bone model, and install a femoral prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm; prepare an acetabular bone cavity for the patient according to the planned rasping area and the second bone model, and install an acetabular cup prosthesis. It can not only receive the case information input by the user, thereby creating a second bone model with a prosthetic installed according to the case information, but also control the robotic arm to install the femoral prosthesis and the acetabular cup prosthesis, thereby improving the reliability of prosthetic installation.

[0041] Of course, implementing any product or method of the present invention does not necessarily require achieving all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0043] Figure 1 A schematic structural diagram of an acetabular prosthesis provided by an embodiment of the present application;

[0044] Figure 2 A schematic flowchart of a prosthetic surgery method provided by an embodiment of the present application;

[0045] Figure 3 A schematic flowchart of acetabular cup prosthesis verification provided by an embodiment of the present application;

[0046] Figure 4 A schematic flowchart of femoral prosthesis verification provided by an embodiment of the present application;

[0047] Figure 5 This is a schematic structural diagram of a prosthetic surgical device provided by an embodiment of the present application;

[0048] Figure 6 This is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the protection scope of the present invention.

[0050] In the first aspect of the embodiments of the present application, first, a prosthetic surgical method is provided. Refer to Figure 2 , Figure 2 This is a schematic flowchart of a prosthetic surgical method provided by an embodiment of the present application, including:

[0051] Step S21: Receive case information input by the user, where the case information includes CT (Computed Tomography) data;

[0052] Step S22: Create and display a first bone model according to the CT data;

[0053] Step S23: Receive prosthetic selection information input by the user based on the displayed first femur model;

[0054] Step S24: Create a second bone model installed with a prosthesis according to the first bone model and the prosthetic selection information;

[0055] Step S25: Perform simulation for a preset behavior cycle according to the second bone model;

[0056] Step S26: When the simulation result meets the preset requirements, control the robotic arm to prepare the femoral cavity of the patient according to the marked osteotomy line and the second bone model, and install the femoral prosthesis; prepare the acetabular bone cavity of the patient according to the planned rasping area and the second bone model, and install the acetabular cup prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm.

[0057] It can be seen that through the method of the embodiments of the present application, not only can the case information input by the user be received, so as to create a second bone model installed with a prosthesis according to the case information, but also the robotic arm can be controlled to install the femoral prosthesis and the acetabular cup prosthesis, thereby improving the reliability of prosthesis installation.

[0058] Corresponding to the above step S21, receive the case information input by the user. Since the method of the present application is applied to the installation of a prosthesis, the prosthesis can be a hip joint prosthesis, including an acetabular cup and a femur. In a specific surgical process, the acetabular cup is installed on the pelvic bone, and the femoral prosthesis is installed on the femur. Therefore, when obtaining the CT image, the CT image should include the pelvic bone and the femur. The CT image in the present application can refer to the CT image of the patient. For example, before performing surgical planning, the doctor first performs a CT on the patient to obtain the CT image of the patient, and then performs surgical planning and surgery based on the CT image.

[0059] Corresponding to the above step S22, create and display the first bone model according to the CT data. The bone model can be created and displayed according to the CT image and the marking instructions input by the user. Specifically, the bone model can include a pelvic bone model and a femur model. In actual use, the femur can be divided into the operative-side femur and the contralateral femur. Among them, the operative-side femur can refer to the femur corresponding to the hip joint on the specific side that needs to be surgically treated, and the contralateral femur refers to the femur on the other side. For example, when a patient needs to install a prosthesis for the left hip joint, the left side is the operative side and the right side is the contralateral side.

[0060] Corresponding to the above step S23, receive the prosthesis selection information input by the user based on the displayed first femur model. The user can select the specifications corresponding to the target acetabular cup and femur from the preset selection types. Specifically, the specifications include brand models and specifications, etc. Among them, for the femoral head, the length can also be included, and for the femoral stem, parameters such as the neck-shaft angle can also be included.

[0061] Corresponding to the above step S24, create a second bone model with the prosthesis installed according to the first bone model and the prosthesis selection information. The specification information of the corresponding prosthesis can be determined according to the prosthesis selection information. Then, the first bone model and the prosthesis are unified into the same coordinate system to obtain the second bone model with the prosthesis installed. For example, after setting the center position of the acetabular cup and setting a certain anteversion angle and abduction angle, the prosthesis and the human body can be combined, and at the same time, the prosthesis coordinate system is unified into the human body coordinate system.

[0062] Corresponding to the above step S25, simulate a preset behavior cycle according to the second bone model. Multiple behavior cycles can be simulated to ensure that the installed prosthesis can meet the living needs of the patient. In a possible implementation manner, the simulating a preset behavior cycle according to the second bone model includes simulating one or more preset behavior cycles according to the second bone model, where the one or more preset behavior cycles are one or more of the postures from standing to sitting, walking posture, bending posture, posture from squatting to standing, bending forward posture, turning posture, up and down stairs posture, cross-legged posture.

[0063] Corresponding to the above step S26, the method of the embodiment of the present application can be applied to a smart terminal, which can also control a robotic arm. Specifically, the robotic arm can be used to assist a doctor in performing a surgery. When the simulation result meets the preset requirements, the robotic arm is controlled to prepare the femoral cavity of the patient according to the marked osteotomy line and the second bone model, and install a femoral prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm. Specifically, it can be marked by the surgical staff according to the prompt information, and the prompt information can be determined according to the measurement result; the acetabular bone cavity of the patient is prepared according to the second bone model, and a cup prosthesis is installed. Specifically, the installation by the robotic arm can include the truncation of the femur and the grinding of the acetabulum, etc.

[0064] In one example, before controlling the robotic arm to install the femoral prosthesis for the patient according to the marked osteotomy line and the second bone model, preoperative preparations can also be carried out, including: robotic arm inspection. Specifically, the robotic arm inspection items can be selected and inspected, and the progress of the robotic arm inspection can be prompted; tool kit selection. Specifically, the current tool kit number can be selected; robotic arm trolley preparation. The user can be prompted to install a sterile cover, install end effector devices, etc.; calibration of surgical tools. The probe can be calibrated, and the user can be prompted for the probe calibration steps; installation of an acetabular locator and implantation of an inspection nail. The user can be prompted for the installation steps and precautions of the tracer and the inspection nail, and the initial position of the inspection nail can be captured.

[0065] In one example, controlling the robotic arm to install the femoral prosthesis for the patient according to the marked osteotomy line and the second bone model can include: femoral rough registration. Feature point capture, modification, saving, capture, and reset of feature points can be performed, and the user can be guided through operation prompts for rough registration; femoral fine registration. Feature point capture can be performed, feature points can be selected, captured, and revoked, and operation prompts can be provided to guide the user for fine registration; femoral osteotomy. Feature point capture areas, capture, and reset of feature points can be performed. Operation prompts can be provided to guide the user for registration verification, and position prompts can be provided to prompt the distance of the needle tip relative to the bone cortex, guiding the user to mark the osteotomy line; calculation of the inclination angle of the reamer. Operation prompts can be provided to guide the user to measure the inclination angle of the reamer and display the real-time measurement result value, and capture can be performed to capture the measurement tool; combined anteversion angle evaluation. The sum of the planned cup inclination angle and the reamer inclination angle can be calculated through information prompts.

[0066] In one example, the installation of the acetabular cup prosthesis for the patient according to the second bone model may include: acetabular rough registration, where feature points can be captured, modified, saved, captured again, and reset, and operation prompts are provided to guide the user through rough registration; acetabular fine registration, where feature points can be captured, selected, captured again, and revoked, and operation prompts are provided to guide the user through fine registration; acetabular registration verification, where feature points can be captured, captured again, and reset, and operation prompts are provided to guide the user through registration verification, along with position prompts to indicate the distance of the needle tip relative to the bone cortex; preparation before rasping, where operation prompts are used to guide the user to install the rasping rod and perform relevant inspections, and feature points can be captured, including acetabular inspection points and rasping rod inspection points; acetabular preparation, where the acetabular rasp size can be selected, the currently used acetabular rasp size can be chosen, and the execution mode can be selected, with different rasping modes available. Operation prompts are provided to guide the user through rasping and surgical information is prompted; preparation before placing the acetabular cup, where operation prompts are used to guide the user to install the placement rod and perform relevant inspections. Through feature point capture, acetabular inspection points and placement rod inspection points are captured, then the acetabular cup size is selected, the currently used acetabular cup size is chosen, and then the execution mode can be selected to turn on or off the intelligent positioning mode. Operation prompts are provided to guide the user through placing the acetabular cup and surgical information is prompted.

[0067] In a possible implementation, after the installation of the acetabular cup prosthesis for the patient according to the second bone model, refer to Figure 3 , the method further includes:

[0068] Step S31, obtaining the edge point information of the installed acetabular cup prosthesis;

[0069] Step S32, verifying the angle of the installed acetabular cup prosthesis based on the edge point information and the second bone model.

[0070] By obtaining the edge point information of the installed acetabular cup prosthesis, the edge point information of the acetabular cup prosthesis after the operation can be obtained, and thus the angle of the installed acetabular cup prosthesis can be verified based on the edge point information and the second bone model. Specifically, the edge point information of the acetabular cup prosthesis after the operation can be compared with the planned acetabular position of the second bone model to evaluate the success of the operation. In one case, it is also possible to simulate using the edge point information of the acetabular cup prosthesis after the operation to determine whether the prosthesis installed during the operation will have an impact on the patient. For example, simulations of multiple behavioral cycles can be performed.

[0071] In a possible implementation, after the control of the robotic arm installs the femoral prosthesis for the patient according to the marked osteotomy line and the second bone model, refer to Figure 4 , the method further includes:

[0072] Step S41: Obtain the tracer information of the installed femoral prosthesis;

[0073] Step S42: Verify the installed femoral prosthesis according to the tracer information and the second bone model.

[0074] By obtaining the tracer information of the installed femoral prosthesis, the tracer information of the femoral prosthesis after surgery can be obtained, so as to verify the installed femoral prosthesis according to the tracer of the femoral prosthesis. Specifically, the position of the tracer of the femoral prosthesis after surgery can be compared with the position of the femur planned by the second bone model, so as to evaluate whether the surgery is successful. In one case, it is also possible to simulate through the tracer of the femoral prosthesis after surgery to determine whether the prosthesis installed during the surgery will have an impact on the patient. For example, multiple behavior cycles can be simulated.

[0075] In the actual use process, the surgical plan can also be a surgical plan created by a third party. For example, a third party creates a surgical plan, and then a doctor performs the surgery according to the created surgical plan. The specific surgical implementation process can correspond to the above implementation process. In a possible implementation manner, before the control robotic arm installs the femoral prosthesis for the patient according to the marked osteotomy line and the second bone model, the method further includes: obtaining a surgical plan created by a third party, where the surgical plan created by the third party includes a third bone model; the control robotic arm installs the femoral prosthesis for the patient according to the marked osteotomy line and the second bone model, including: controlling the robotic arm to install the femoral prosthesis for the patient according to the marked osteotomy line and the third bone model; installing the acetabular cup prosthesis for the patient according to the second bone model, including: installing the acetabular cup prosthesis for the patient according to the third bone model.

[0076] In the second aspect of the embodiments of the present application, a prosthesis surgical device is provided. Refer to Figure 5 , Figure 5 which is a schematic structural diagram of the prosthesis surgical device provided by the embodiments of the present application, and includes:

[0077] A case receiving module 501, configured to receive case information input by a user, where the case information includes CT data;

[0078] A first model creation module 502, configured to create and display a first bone model according to the CT data;

[0079] An information receiving module 503, configured to receive prosthesis selection information input by the user based on the displayed first femoral model;

[0080] A second model creation module 504, configured to create a second bone model with a prosthesis installed according to the first bone model and the prosthesis selection information;

[0081] A behavior simulation module 505, configured to simulate a preset behavior cycle according to the second bone model;

[0082] A prosthesis installation module 506, configured to, when the simulation result meets the preset requirements, control a robotic arm to prepare a femoral cavity for a patient according to the marked osteotomy line and the second bone model, and install a femoral prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm; prepare an acetabular bone cavity for the patient according to the planned rasping area and the second bone model, and install an acetabular cup prosthesis.

[0083] In a possible implementation manner, the device further includes:

[0084] An edge point acquisition module, configured to acquire edge point information of an installed acetabular cup prosthesis;

[0085] An angle verification module, configured to verify the angle of the installed acetabular cup prosthesis according to the edge point information and the second bone model.

[0086] In a possible implementation manner, the device further includes:

[0087] A tracer information acquisition module, configured to acquire tracer information of an installed femoral prosthesis;

[0088] A femur verification module, configured to verify the installed femoral prosthesis according to the tracer information and the second bone model.

[0089] In a possible implementation manner, the behavior simulation module is specifically configured to simulate one or more preset behavior cycles according to the second bone model, where the one or more preset behavior cycles are one or more of a stance from standing to sitting, a walking stance, a bending stance, a stance from squatting to standing, a bending forward stance, a turning stance, an up and down stairs stance, and a crossed legs stance.

[0090] It can be seen that through the device of the embodiment of the present application, not only can the case information input by the user be received, so as to create a second bone model with a prosthesis installed according to the case information, but also the robotic arm can be controlled to install the femoral prosthesis and the acetabular cup prosthesis, thereby improving the reliability of prosthesis installation.

[0091] An embodiment of the present invention further provides an electronic device, such as Figure 6As shown in the figure, it includes a processor 601, a communication interface 602, a memory 603, and a communication bus 604. Among them, the processor 601, the communication interface 602, and the memory 603 complete communication with each other through the communication bus 604.

[0092] The memory 603 is used to store computer programs.

[0093] When the processor 601 is used to execute the program stored in the memory 603, the following steps are implemented:

[0094] Receive the case information input by the user, where the case information includes CT data.

[0095] Create a first bone model based on the CT data and display it.

[0096] Receive the prosthesis selection information input by the user based on the displayed first femur model.

[0097] Create a second bone model with a prosthesis installed based on the first bone model and the prosthesis selection information.

[0098] Perform a simulation of a preset behavior cycle based on the second bone model.

[0099] When the simulation result meets the preset requirements, control the robotic arm to prepare the femoral cavity of the patient according to the marked osteotomy line and the second bone model, and install the femoral prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm; prepare the acetabular bone cavity of the patient according to the planned rasping area and the second bone model, and install the acetabular cup prosthesis.

[0100] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0101] The communication interface is used for communication between the above electronic device and other devices.

[0102] The memory may include a Random Access Memory (RAM), or may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0103] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0104] In another embodiment provided by the present invention, a computer-readable storage medium is further provided. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned prosthetic surgery methods are implemented.

[0105] In another embodiment provided by the present invention, a computer program product containing instructions is further provided. When it runs on a computer, the computer is caused to execute any of the prosthetic surgery methods in the above embodiments.

[0106] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, a computer, a server, or a data center to another website, a computer, a server, or a data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a Solid State Disk (SSD)).

[0107] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0108] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, electronic device, storage medium and computer program product, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the corresponding parts of the method embodiments for the relevant content.

[0109] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A prosthetic surgery method, characterized in that, including: Receiving case information input by a user, where the case information includes CT data; Creating a first bone model based on the CT data and displaying it; Receiving prosthesis selection information input by the user based on the displayed first femur model; Creating a second bone model with a prosthesis installed based on the first bone model and the prosthesis selection information; Performing a simulation of a preset behavior cycle based on the second bone model; When the simulation result meets the preset requirements, controlling a robotic arm to prepare a femoral cavity for the patient according to the marked osteotomy line and the second bone model, and installing a femoral prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm; preparing an acetabular bone cavity for the patient according to the planned rasping area and the second bone model, and installing a cup prosthesis.

2. The method according to claim 1, wherein After installing the cup prosthesis for the patient according to the second bone model, the method further includes: Obtaining edge point information of the installed cup prosthesis; Verifying the angle of the installed cup prosthesis according to the edge point information and the second bone model.

3. The method according to claim 1, wherein After controlling the robotic arm to install the femoral prosthesis for the patient according to the marked osteotomy line and the second bone model, the method further includes: Obtaining tracer information of the installed femoral prosthesis; Verifying the installed femoral prosthesis according to the tracer information and the second bone model.

4. The method according to claim 1, characterized in that The performing a simulation of a preset behavior cycle based on the second bone model includes Performing a simulation of one or more preset behavior cycles based on the second bone model, where the one or more preset behavior cycles are one or more of a posture from standing to sitting, a walking posture, a bending posture, a posture from squatting to standing, a leaning forward posture, a turning posture, a stair climbing and descending posture, and a crossed-leg posture.

5. A prosthetic surgical device, characterized in that, including: A case receiving module for receiving case information input by a user, where the case information includes CT data; A first model creating module for creating a first bone model based on the CT data and displaying it; An information receiving module for receiving prosthesis selection information input by the user based on the displayed first femur model; A second model creating module for creating a second bone model with a prosthesis installed based on the first bone model and the prosthesis selection information; A behavior simulation module for performing a simulation of a preset behavior cycle based on the second bone model; A prosthesis installation module for, when the simulation result meets the preset requirements, controlling a robotic arm to prepare a femoral cavity for the patient according to the marked osteotomy line and the second bone model, and installing a femoral prosthesis, where the osteotomy line is marked according to the measurement result of the robotic arm; preparing an acetabular bone cavity for the patient according to the planned rasping area and the second bone model, and installing a cup prosthesis.

6. The device according to claim 5, characterized in that, The device further includes: An edge point obtaining module for obtaining edge point information of the installed cup prosthesis; An angle verification module for verifying the angle of the installed cup prosthesis according to the edge point information and the second bone model.

7. The device according to claim 5, characterized in that, The device further includes: A tracer information acquisition module for acquiring the tracer information of the installed femoral prosthesis; A femoral verification module for verifying the installed femoral prosthesis according to the tracer information and the second bone model.

8. The device according to claim 5, characterized in that The behavior simulation module is specifically configured to simulate one or more preset behavior cycles according to the second bone model, wherein the one or more preset behavior cycles are one or more of a posture from standing to sitting, a walking posture, a bending posture, a posture from squatting to standing, a bending-forward posture, a turning posture, a stair climbing and descending posture, and a cross-legged posture.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is used for storing computer programs; The processor is configured to implement the method steps described in any one of claims 1-4 when executing the programs stored on the memory.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method steps described in any one of claims 1-4 are implemented.

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